Method, apparatus, and system for wireless inertial measurement

1. An object tracking system, comprising: a transmitter configured for transmitting a wireless signal through a wireless multipath channel; a receiver configured for: receiving the wireless signal through the wireless multipath channel, and extracting a plurality of time series of channel information (TSCI) of the wireless multipath channel from the wireless signal, wherein: each of the plurality of TSCI is associated with an antenna of the transmitter and an antenna of the receiver, one of the transmitter and the receiver is a stationary device, the other one of the transmitter and the receiver is a moving device moving with an object; and a processor configured for: determining that a first channel information (CI) at a first time of a first TSCI associated with a first antenna of the moving device matches a second CI at a second time of a second TSCI associated with a second antenna of the moving device, wherein both the first TSCI and the second TSCI are associated with a particular antenna of the stationary device; computing at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, a configuration of antennas of the moving device, a configuration of at least one antenna of the stationary device, a time difference between the first time and the second time, and a distance between the first antenna and the second antenna; computing a spatial-temporal information (STI) of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the configuration of antennas of the moving device, the configuration of at least one antenna of the stationary device, a past SIT, and a past movement parameter, wherein at least one of the movement parameter and the STI is related to a current movement of the moving device; and tracking the object and the moving device based on the STI, wherein: some of the antennas of the moving device are configured to have a spacing based on a frequency of the wireless signal or a target movement parameter; and the first CI at the first time is determined to be matched to the second CI at the second time based on at least one of: a similarity score between the first CI and the second CI is larger than a threshold, the second time is within a time window associated with the first time and the configuration of the antennas of the moving device, or the similarity score is not smaller than another similarity score between the first CI and any CI in any of the TSCI within the time window.

2. The object tracking system of claim 1 ; wherein: at least one of the movement parameter and the STI comprises at least one of: a location, a horizontal location, a vertical location, a length, an area, a volume, a capacity, a direction, an angle; a distance, a displacement, a speed; a velocity, an acceleration, a rotational speed, a rotational acceleration, a gait cycle, a presence, a motion type, a motion classification, a motion characteristics, a sudden motion, a transient motion, a periodic motion, a period of the periodic motion, a frequency of the periodic motion; a transient motion, a time trend, a timing, a timestamp, a time period, a time window, a sliding time window, a history, a frequency trend, a spatial-temporal trend, a spatial-temporal change, and an event; and tracking the object and the moving device comprises at least one of: determining a map location of the object, tracking the location of the object, tracking another motion analytics of the object, guiding movement of the object along a trajectory, guiding the movement of the object to avoid an obstacle, tracking motion of the object, tracking behavior of the object, object behavior identification, detecting the motion of the object, detecting a vital sign of the object, detecting a periodic motion associated with the object, detecting breathing of the object, detecting heartbeat of the object, detecting an event associated with the current movement; detecting a fall-down movement of the object, presenting the location of the object, presenting a history of the location of the object, and displaying the location of the object graphically.

3. The object tracking system of claim 1 , wherein: the transmitter is the stationary device and the receiver is the moving device; the wireless signal is received by a second receiver that is moving and configured to: extract, from the wireless signal, another plurality of TSCI each of which is associated with an antenna of the transmitter and an antenna of the second receiver, and compute a STI of the second receiver based on the another plurality of TSCI; a sounding rate associated with the plurality of TSCI and the receiver is different from a second sounding rate associated with the another plurality of TSCI and the second receiver; the STI of the receiver is shared to the second receiver; the STI of the second receiver is shared to the receiver; and movements of the receiver and the second receiver are coordinated.

4. The object tracking system of claim 1 , wherein: the receiver is the stationary device and the transmitter is the moving device; a second transmitter is moving and configured to transmit a second wireless signal asynchronously with respect to the wireless signal; a sounding rate associated with the wireless signal is different from a second sounding rate associated with the second wireless signal; the receiver is configured to: extract, from the second wireless signal, another plurality of TSCI each of which is associated with an antenna of the second transmitter and an antenna of the receiver, and compute a second STI of the second transmitter based on the another plurality of TSCI; the transmitter and the second transmitter are coordinated for transmitting the wireless signal and the second wireless signal; the STI of the transmitter is shared to the second transmitter; the STI of the second transmitter is shared to the transmitter; and movements of the transmitter and the second transmitter are coordinated.

5. The object tracking system of claim 1 , wherein: some of the antennas of the moving device are configured in at least one of: a 1-dimensional (1-D) configuration, the 1-D configuration with a center, a straight line, a straight line with uneven spacing, multiple straight lines, a curve, multiple curves, a 2-dimensional (2-D) configuration, the 2-D configuration with a center, a circle, a triangle, a rectangle, a pentagon, a hexagon, a heptagon, an octagon, a polygon, a lattice, an array, a 2-D shape, concentric 2-D shapes with varying size, layers of 2-D shapes, a 3-dimensional (3-D) configuration, the 3-D configuration with a center, a sphere, a cube, a rectangular cube, a constellation, concentric 3-D shapes with varying size, layers of 3-D shapes, an adjustable configuration, and a time varying configuration.

6. The object tracking system of claim 1 , wherein determining that the first CI at the first time matches the second CI at the second time comprises: computing a plurality of similarity scores between the first CI and each CI of the second TSCI in a time period associated with the first time; determining a maximum similarity score among the plurality of similarity scores; determining that the maximum similarity score is greater than a threshold; determining that the maximum similarity score is computed between the first CI and the second CI; and identifying the second time to be associated with the second CI.

7. The object tracking system of claim 6 , wherein: the maximum similarity score is determined based on at least one of: a filtering of the plurality of similarity scores, a history of past similarity scores, and an application of a dynamic programming to at least one of: the plurality of similarity scores and the history of past similarity scores; the at least one movement parameter comprises at least one of: an angle computed based on at least one: an angular bearing between the first antenna and the second antenna, an angular bearing of the first antenna with respect to the second antenna, an angular bearing of the second antenna with respect to the first antenna, an angular bearing between two antennas in the configuration of the antennas of the moving device, the configuration of the antennas of the moving device, and the maximum similarity score; and a distance computed based on the maximum similarity score.

8. The object tracking system of claim 6 , wherein: the at least one movement parameter comprises at least one of: an angle and a distance; the angle is computed based on at least one of: the maximum similarity score, the distance, the configuration of the antennas of the moving device, the time difference between the first time and the second time, and the distance between the first antenna and the second antenna; and the distance is computed based on at least one of: the maximum similarity score, the angle, the configuration of the antennas of the moving device, the time difference between the first time and the second time, and the distance between the first antenna and the second antenna.

9. The object tracking system of claim 1 , wherein determining that the first CI at the first time matches the second CI at the second time comprises: for each of the plurality of TSCI, other than the first TSCI, as a candidate second TSCI, computing a plurality of similarity scores between the first CI and each CI of the candidate second TSCI in a respective time period associated with the first time and associated with the candidate second TSCI, and determining a respective maximum similarity score among the plurality of similarity scores; determining an overall maximum similarity score among the maximum similarity scores associated with the plurality of TSCI other than the first TSCI; determining that the overall maximum similarity score is greater than a threshold; identifying the second TSCI: to be a candidate second TSCI associated with the overall maximum similarity score; identifying the second CI to be a CI of the second TSCI associated with the overall maximum similarity score; and identifying the second time to be associated with the second CI.

10. The object tracking system of claim 9 , wherein: the respective maximum similarity score is determined based on at least one of: a filtering of the plurality of similarity scores, a history of past similarity scores, and an application of a dynamic programming to at least one of: the plurality of similarity scores, and the history of past similarity scores.

11. The object tracking system of claim 9 , wherein determining that the first CI at the first time matches the second CI at the second time further comprises: determining at least one of the plurality of TSCI other than the first TSCI as unlikely candidate second TSCI; and skipping the unlikely candidate second TSCI such that similarity scores with respect to the first CI are not computed for any CI of the unlikely candidate second TSCI.

12. The object tracking system of claim 1 , wherein determining that the first CI at the first time matches the second CI at the second time comprises: for each of the plurality of TSCI as a candidate first TSCI, for each of the plurality of TSCI, other than the candidate first TSCI, as a candidate second TSCI, computing a plurality of similarity scores between each CI of the candidate first TSCI at the first time and each CI of the candidate second TSCI in a respective time period associated with the first time and the candidate second TSCI, and determining a respective maximum similarity score based on the plurality of similarity scores, and determine a candidate overall maximum similarity score associated with the candidate first TSCI based on the maximum similarity scores; determining an overall maximum similarity score among all the candidate overall maximum similarity scores; determining that the overall maximum similarity score is greater than a threshold; identifying the first TSCI to be a candidate first TSCI associated with the overall maximum similarity score; identifying the second TSCI to be a candidate second TSCI associated with the overall maximum similarity score; identifying the first CI to be a CI of the first TSCI associated with the overall maximum similarity score; identifying the second CI to be a CI of the second TSCI associated with the overall maximum similarity score; and identifying the second time to be associated with the second CI.

13. The object tracking system of claim 12 , wherein: the respective maximum similarity score is determined based on at least one of: a filtering of the plurality of similarity scores, a history of past similarity scores, and an application of a dynamic programming to at least one of: the plurality of similarity scores, and the history of past similarity scores.

14. The object tracking system of claim 12 , wherein determining that the first CI at the first time matches the second CI at the second time further comprises: for each of the plurality of TSCI as the candidate first TSCI, determining at least one of the plurality of TSCI other than the candidate first TSCI as unlikely candidate second TSCI; and skipping the unlikely candidate second TSCI such that similarity scores with respect to each CI of the candidate first TSCI at the first time are not computed for any CI of the unlikely candidate second TSCI.

15. The object tracking system of claim 1 ; wherein the processor is further configured for: determining that a third CI at a third time of a third TSCI associated with a third antenna of the moving device matches a fourth CI at a fourth time of a fourth TSCI associated with a fourth antenna of the moving device, wherein both the third TSCI and the fourth TSCI are associated with another particular antenna of the stationary device; computing the at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, the configuration of antennas of the moving device, the configuration of antennas of the stationary device, the time difference between the first time and the second time, a time difference between the third time and the fourth time, the distance between the first antenna and the second antenna, and a distance between the third antenna and the fourth antenna; and computing the STI of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the third time, the fourth time, the configuration of antennas of the stationary device, the configuration of antennas of the moving device, the past STI, and the past movement parameter.

16. The object tracking system of claim 15 , wherein: the third time is equal to the first time; and computing the STI of the moving device comprises: computing a first candidate STI based on a first movement parameter computed based on the matching of the first CI and the second CI, computing a second candidate STI based on a second movement parameter computed based on the matching of the third CI and the fourth CI, and computing the STI by aggregating the first candidate STI and the second candidate STI.

17. The object tracking system of claim 1 , wherein: the at least one movement parameter comprises at least one of: a distance and an angle; the STI comprises a location computed based on at least one of: a past location, the distance, and the angle; and the STI is computed based on an input from a sensor associated with the moving device.

18. The object tracking system of claim 1 , wherein: the at least one movement parameter comprises at least one of: a distance and an angle; the STI comprises a speed computed based on the distance and the time difference between the first time and the second time; the STI comprises an acceleration computed based on the speed, the time difference, and a past speed computed based on a past distance and a past time difference; and the STI comprises a direction computed based on a past direction and the angle.

19. The object tracking system of claim 1 , wherein tracking the object and the moving device comprises: computing a trajectory of the object and the moving device based on the STI and a history of the STI; and displaying the trajectory.

20. The object tracking system of claim 1 , wherein the processor is further configured for: determining that a straight line connecting the first antenna and the second antenna of the moving device is parallel to a straight line connecting a third antenna and a fourth antenna of the moving device; determining that a third CI at a third time of a third TSCI associated with the third antenna matches a fourth CI at a fourth time of a fourth TSCI associated with the fourth antenna, wherein both the third TSCI and the fourth TSCI are associated with another particular antenna of the stationary device; computing the at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, the configuration of antennas of the moving device, the configuration of antennas of the stationary device, the time difference between the first time and the second time, a time difference between the third time and the fourth time, the distance between the first antenna and the second antenna, and a distance between the third antenna and the fourth antenna; and computing the STI of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the third time, the fourth time, the configuration of antennas of the stationary device, the configuration of antennas of the moving device, the past STI, and the past movement parameter.

21. The object tracking system of claim 1 , wherein the processor is further configured for: determining that a straight line connecting the first antenna and the second antenna of the moving device is parallel to a straight line connecting a third antenna and a fourth antenna of the moving device; determining jointly that the first CI at the first time matches the second CI at the second time, and a third CI at the first time of a third TSCI associated with the third antenna matches a fourth CI at a fourth time of a fourth TSCI associated with the fourth antenna, wherein both the third TSCI and the fourth TSCI are associated with another particular antenna of the stationary device; computing the at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, the configuration of antennas of the moving device, the configuration of antennas of the stationary device, the time difference between the first time and the second time, a time difference between the first time and the fourth time, the distance between the first antenna and the second antenna, and a distance between the third antenna and the fourth antenna; and computing the STI of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the fourth time, the configuration of antennas of the stationary device, the configuration of antennas of the moving device, the past STI, and the past movement parameter.

22. The object tracking system of claim 1 , wherein the transmitter is configured for: transmitting at least one of: digital data, meta data and wireless network traffic data, with the wireless signal through the wireless multipath channel.

23. A method, implemented by a processor, a memory communicatively coupled with the processor, and a set of instructions stored in the memory to be executed by the processor, comprising: obtaining a plurality of time series of channel information (TSCI) of a wireless multipath channel, wherein: the plurality of TSCI are extracted from a wireless signal transmitted from a first wireless device to a second wireless device through the wireless multipath channel, each of the plurality of TSCI is associated with an antenna of the first wireless device and an antenna of the second wireless device, one of the first wireless device and the second wireless device is a stationary device, the other one of the first wireless device and the second wireless device is a moving device moving with an object; determining that a first channel information (CI) at a first time of a first TSCI associated with a first antenna of the moving device matches a second CI at a second time of a second TSCI associated with a second antenna of the moving device, wherein both the first TSCI and the second TSCI are associated with a same antenna of the stationary device; computing at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, a configuration of antennas of the moving device, a configuration of at least one antenna of the stationary device, a time difference between the first time and the second time, and a distance between the first antenna and the second antenna; computing a spatial-temporal information (STI) of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the configuration of antennas of the moving device, the configuration of at least one antenna of the stationary device, a past STI, and a past movement parameter, wherein at least one of the movement parameter and the STI is related to a current movement of the moving device; and tracking at least one of the object and the moving device based on the STI, wherein: the at least one movement parameter comprises at least one of: a distance and an angle; the STI comprises a location computed based on at least one of: a past location, the distance, and the angle; and the STI is computed based on an input from a sensor associated with the moving device.

24. The method of claim 23 , further comprising: obtaining the plurality of TSCI from a wireless integrated circuit (IC); and obtaining at least one of: the past STI and the past movement parameter, from a sensor communicatively coupled with the processor and memory.

25. The method of claim 23 , further comprising: transmitting, to at least one of the first wireless device and a server, at least one of: the at least one movement parameter and the STI.

26. The method of claim 23 , further comprising: switching the wireless multipath channel for obtaining TSCI, when a signal quality metric of the wireless multipath channel is below a first threshold; and skipping at least one CI of the plurality of TSCI during computing the at least one movement parameter and the STI, when a signal quality metric of the wireless multipath channel is below a second threshold, wherein the CI comprises at least one of: channel state information (CSI), received signal power, compressed CSI, uncompressed CSI, radio state, modem parameters, channel impulse response (CIR), channel frequency response (CFR), an effect of environment on the wireless signal, magnetic response, and phase response.

27. The method of claim 23 , further comprising: determining, during obtaining the plurality of TSCI, that a signal quality associated with the first wireless device is below a threshold, wherein: the first wireless device is the stationary device, the second wireless device is the moving device, and there are multiple first wireless devices including the stationary device in a venue; determining that a signal quality associated with an additional first wireless device is above an additional threshold; and configuring the second wireless device to: switch from the first wireless device to the additional first wireless device, stop receiving the wireless signal from the first wireless device, start to receive an additional wireless signal from the additional first wireless device, keep a part of the plurality of TSCI already obtained from the wireless signal, and obtain a remaining part of the plurality of TSCI by extracting CI from the additional wireless signal instead of the wireless signal.

28. The method of claim 23 , further comprising: determining, during obtaining the plurality of TSCI, that a signal quality associated with the second wireless device is below a threshold, wherein: the first wireless device is the moving device, the second wireless device is the stationary device, and there are multiple second wireless devices including the stationary device in a venue; determining that a signal quality associated with an additional second wireless device is above an additional threshold; configuring the second wireless device to stop the following: receiving the wireless signal from the first wireless device, extracting the plurality of TSCI from the wireless signal, determining the matching of CI of first TSCI and CI of second TSCI, computing the at least one movement parameter of the moving device, and computing the STI of the moving device; and configuring the additional second wireless device to start the following: receiving the wireless signal from the first wireless device, extracting a remaining part of the plurality of TSCI from the wireless signal, determining the matching of the CI of first TSCI and the CI of second TSCI, computing the at least one movement parameter of the moving device, and computing the STI of the moving device.

29. An object tracking system, comprising: a transmitter configured for transmitting a wireless signal through a wireless multipath channel; and a receiver that comprises a processor, a memory communicatively coupled with the processor, and a set of instructions stored in the memory to be executed by the processor, and is configured for: receiving the wireless signal through the wireless multipath channel, extracting a plurality of time series of channel information (TSCI) of the wireless multipath channel from the wireless signal, wherein: each of the plurality of TSCI is associated with an antenna of the transmitter and an antenna of the receiver, one of the transmitter and the receiver is stationary, the other one of the transmitter and the receiver is a moving device moving with an object, determining that a first channel information (CI) at a first time of a first TSCI associated with a first antenna of the moving device matches a second CI at a second time of a second TSCI associated with a second antenna of the moving device, wherein both the first TSCI and the second TSCI are associated with a particular antenna of the stationary device, computing at least one movement parameter of the moving device based on at least one of: the plurality of TSCI, a configuration of antennas of the moving device, a configuration of at least one antenna of the stationary device, a time difference between the first time and the second time, and a distance between the first antenna and the second antenna, computing a spatial-temporal information (STI) of the moving device based on at least one of: the at least one movement parameter, the first time, the second time, the configuration of antennas of the moving device, the configuration of at least one antenna of the stationary device, a past STI, and a past movement parameter, wherein at least one of the movement parameter and the STI is related to a current movement of the moving device, and tracking at least one of the object or the moving device, based on the STI, wherein the tracking comprises: computing a trajectory of the at least one of the object or the moving device, based on the STI and a history of the STI, and displaying the trajectory.